CN104044140A - Robot system and method for controlling robot system - Google Patents
Robot system and method for controlling robot system Download PDFInfo
- Publication number
- CN104044140A CN104044140A CN201410006731.7A CN201410006731A CN104044140A CN 104044140 A CN104044140 A CN 104044140A CN 201410006731 A CN201410006731 A CN 201410006731A CN 104044140 A CN104044140 A CN 104044140A
- Authority
- CN
- China
- Prior art keywords
- moving body
- robot
- responsiveness
- region
- actuation arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4061—Avoiding collision or forbidden zones
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40202—Human robot coexistence
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40203—Detect position of operator, create non material barrier to protect operator
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
A robot system of the present disclosure includes: a robot including an operable working arm; a motion speed detection unit configured to detect a motion speed of the working arm; a region setting unit that sets a region with a predetermined range around the robot; a moving body detection unit configured to detect a position of the moving body other than the robot; and an abnormality determination unit configured to determine abnormality when detecting of the position of the moving body within the region, wherein the region setting unit changes the range of the region according to the motion speed of the working arm.
Description
Technical field
The present invention relates to the control method of a kind of robot system and robot system.
Background technology
In the past, a kind of robot with the work actuation arm that can move had been proposed.Conventionally, thereby guard rail is set in the surrounding of work actuation arm, the operating space of work actuation arm and people are separated, still, in order to carry out supplementing of target thing etc., people will enter in guard rail sometimes.In addition, in recent years, in work actuation arm and people, cooperative situation in the space not being separated is also increasing.In such robot, in order to avoid the risk that causes robot and people mutually to interfere in the operating area of the intrusion work actuation arm such as people, find a kind of Security Countermeasures.For example, proposed a kind of man-machine work system, had: be arranged on the transmitter on the person; Corresponding with this transmitter and be arranged on the receiver on device; And the output signal of this receiver is carried out calculation process and detected people with respect to the position detection unit (for example,, with reference to patent documentation 1) of the position of device.
In the man-machine work system of recording, by position detection unit, detect people with respect to the position relationship of device in patent documentation 1, and by this position relationship, set people's operating space.
Prior art document
Patent documentation
Patent documentation 1: No. 4219870 communique of Japan Patent
Summary of the invention
The technical problem to be solved in the present invention
Yet the responsiveness of robot body's responsiveness and work actuation arm is not to fix all the time, in robot body's the course of work, constantly change.And, according to the responsiveness of robot body's responsiveness and work actuation arm, for people's danger (risk), also change.Therefore, if only according to set uniformly people's operating space with respect to the position relationship of device, sometimes cannot realize sufficient Security Countermeasures.Otherwise according to robot body's responsiveness, Security Countermeasures become excessively sometimes, cause robot body's operating efficiency to decline.
The present invention In view of the foregoing makes, its problem to be solved be to provide a kind of can be with the high-level robot system of security and workability and the control method of robot system of realizing.
For the means of dealing with problems
Robot system as an exemplary aspect, has: robot, and described robot has the work actuation arm that can move; Responsiveness detecting unit, the responsiveness of arm for described responsiveness detecting unit testing; Region setup unit, described region setup unit is set the region of the scope of regulation in the surrounding of robot; Moving body detecting unit, described moving body detecting unit detects the position of the moving body beyond robot; And abnormality juding unit, while being positioned at region in the position that moving body detected described in abnormality juding unit be judged to be extremely, region setup unit is according to the responsiveness of work actuation arm, changes the scope in region.
Robot can have the base station of supporting work actuation arm and the travel mechanism that base station is moved.
Moving body detecting unit detects position and the translational speed of moving body, and region setup unit can, according to both relative velocity of the translational speed of the responsiveness based on work actuation arm and moving body, carry out the scope of setting regions.
Be accompanied by that abnormality juding unit is judged to be that the action that abnormal processing can comprise robot stops, alarm send and the reduction of the responsiveness of work actuation arm at least any control.
Robot can be set by operation program, carries out multiple action, and operation program can comprise the information of the responsiveness of regulation work actuation arm.
The information of the responsiveness that operation program comprises regulation work actuation arm, while being positioned at region in the position that moving body detected, the action that abnormality juding unit can carried out according to robot, carries out different abnormality judings.
At least any component in directions X component, Y-direction component and Z durection component in the XYZ coordinate system of the responsiveness of arm for the testing of responsiveness detecting unit, region setup unit can carry out according at least any component by the detected directions X component of responsiveness detecting unit, Y-direction component and Z durection component the scope of setting regions.
Moving body detecting unit can be laser ranging system, camera head or on being configured in the IC tag moving body the data sink of reading out data.
Region setup unit can be set in the surrounding of robot a plurality of different regions, and abnormality juding unit can carry out different abnormality judings for each region respectively.
In the time of in the Bu region, position of moving body being detected, abnormality juding unit can be removed abnormality juding.
Control method as the robot system of other exemplary aspects, has: responsiveness detecting step, detects the responsiveness of the work actuation arm of the robot with the work actuation arm that can move; Zone enactment steps, the region of the scope of stipulating in surrounding's setting of robot; Moving body detecting step, the position of the moving body beyond detection robot; And abnormality juding step, while being positioned at region in the position that moving body detected, being judged to be extremely, zone enactment steps, according to the responsiveness of work actuation arm, changes the scope in region.
Further object of the present invention or other feature, by referring to accompanying drawing explanation preferred embodiment, will become obvious.
Invention effect
Can be with high-level security and the workability realized.
Accompanying drawing explanation
Fig. 1 is for the schematic diagram of the action of the robot system that embodiment 1 is related is described.
Fig. 2 means the schematic diagram of the example when responsiveness of work actuation arm is faster than the state shown in Fig. 1.
Fig. 3 means the schematic diagram of the example when responsiveness of work actuation arm is slower than the state shown in Fig. 1.
Fig. 4 be in the related robot system of explanation embodiment 1, change the step of scope in region and the flow chart of the step of abnormality juding.
Fig. 5 is for the schematic diagram of the action of the robot system that variation 1 is related is described.
Fig. 6 be for illustrate robot system that variation 2 is related, change the step of scope in region and the flow chart of the step of abnormality juding.
Fig. 7 be for illustrate robot system that variation 3 is related, change the step of scope in region and the flow chart of the step of abnormality juding.
Fig. 8 be for illustrate robot system that variation 4 is related, change the step of scope in region and the flow chart of the step of abnormality juding.
description of reference numerals
2,2a: robot system
3: robot
4: work actuation arm
5: responsiveness detecting unit
6: region setup unit
7,7a: moving body detecting unit
8: abnormality juding unit
9: moving body
10,10a, 10b: region
11: action control unit
The specific embodiment
[embodiment 1]
Below, with reference to accompanying drawing, the robot system related to embodiment 1 describes.Fig. 1 is for the schematic diagram of the action of the robot system that embodiment 1 is related is described.Fig. 2 means the schematic diagram of the example when responsiveness of work actuation arm is faster than the state shown in Fig. 1.Fig. 3 means the schematic diagram of the example when responsiveness of work actuation arm is slower than the state shown in Fig. 1.In Fig. 1, Fig. 2, Fig. 3, use length at the additional arrow in the top of work actuation arm 4 to represent the size of absolute value of the responsiveness of work actuation arm.
In addition, the responsiveness of work actuation arm generally refers to the responsiveness of work actuation arm leading section.
As shown in Figure 1, robot system 2 has robot 3, responsiveness detecting unit 5, region setup unit 6, moving body detecting unit 7, abnormality juding unit 8 and action control unit 11.Robot 3 has the work actuation arm 4 that can move.Can move refer to by the elements such as actuator that are physical motion by power conversion make work actuation arm 4 can carry out flexible, bend and stretch, the action such as rotation.Robot 3 has above such work actuation arm 4.Responsiveness detecting unit 5 is for detection of the responsiveness of work actuation arm 4.That is, in work actuation arm 4, stretch, bend and stretch, during the action such as rotation, detect the responsiveness of this work actuation arm 4.Region setup unit 6 is set the region 10 of the scope of regulation in the surrounding of robot 3.Region 10 can be the border circular areas of the certain radius centered by robot system 2.Moving body detecting unit 7 detects the position of the moving body 9 beyond robot 3.About the moving body 9 beyond robot 3, can enumerate: for example, except people, hand powered lift, transport vehicle, beyond robot 3 can be from the robot of walking etc.In the situation that the position of moving body 9 detected, be positioned at region 10, abnormality juding unit 8 is judged to be extremely.
The action of action control unit 11 controls 3 and work actuation arm 4.On the one hand, the actuator output action instruction according to following operation program to work actuation arm 4, on the other hand, monitors the positional information of actuator etc., controls work actuation arm 4 and makes it carry out the action according to action command.In addition, be accompanied by the abnormality juding of abnormality juding unit 8, change the responsiveness of work actuation arm 4 or make work actuation arm 4 stop action.
In addition, robot system 2 has storage action program and controls the memory cell of required parameter, but has omitted in the drawings.
Then, in robot system 2, region setup unit 6, according to the responsiveness of work actuation arm 4, changes the scope in region 10.Such robot system 2 can be with high-level security and the workability realized.; as shown in Figure 2; when the responsiveness of work actuation arm 4 is very fast; the scope in the region 10 that execute exception is judged region 10a as shown in Figure 2 broadens extensively like that; as shown in Figure 3; when the responsiveness of work actuation arm 4 is very slow, the scope in the region 10 that execute exception is judged region 10b as shown in Figure 3 narrows down like that.So like this, robot system 2 intrusion of set basis moving body 9 and region 10 that execute exception is judged changeably.Therefore, according to the work of robot 3, moving body 9 can be guaranteed minimum safe distance, and can dwindle the space that robot 3 occupies.In addition, by moving with the maximal rate being allowed according to the work of robot 3, can shorten interval time, improve productivity and the work ratio of robot 3.
In the robot system 2 shown in Fig. 1, show the example while thering is robot 3, this robot 3 has the multi-joint work actuation arm 4 being arranged on bottom surface, ceiling, wall etc.Robot 3 is not limited to such robot 3, so long as have the robot of the work actuation arm 4 that can move.For example, diagram has been omitted, but robot also can have the base station of supporting work actuation arm and the travel mechanism that this base station is moved.
In the robot system 2 shown in Fig. 1, action of configuration speed detection unit 5 in work actuation arm 4.As such responsiveness detecting unit 5, can enumerate: for example, acceleration when surveying work is with the action of arm 4, and measured acceleration is carried out to the measurement mechanism that integration detects responsiveness thus.In addition, in figure, omitted, but the unit of the responsiveness of the external detection work actuation arm that responsiveness detecting unit also can Shi Cong robot 3.
Moving body detecting unit 7 detects position surrounding, robot 3 moving body 9 in addition of robot 3.In the situation that the moving body 9 as detected object is mobile on bottom surface, as shown in Figure 1, the moving body detecting units 7 such as laser ranging system can be arranged on to the height apart from bottom surface regulation, detect the position of moving body 9 on this specific height.Moving body detecting unit 7 is not limited to laser ranging system, for example, can be also camera head or from being configured in the data sink of the IC tag reading out data moving body 9.
Region setup unit 6 can have the pre-stored storage part that has related data, and described related data is the data that the responsiveness of work actuation arm 4 and the scope in region 10 are associated.Region setup unit 6 can read above-mentioned related data from such storage part, and according to this related data, sets the scope in the region 10 that is suitable for the responsiveness that detects by responsiveness detecting unit.
The scope in the region 10 of abnormality juding unit 8 based on setting by region setup unit 6 and by the position of the detected moving body 9 of moving body detecting unit 7, takes a decision as to whether abnormality.That is, in the situation that the position of moving body 9 detected, be positioned at region 10, be judged to be abnormal.For example, if be judged to be extremely, between moving body 9 and work actuation arm 4, may not guarantee suitable distance so.When being judged to be in abnormal situation, the processing that action control unit 11 is stipulated.In the processing of this regulation, can comprise at least any control in the responsiveness that makes work actuation arm 4 stop action, transmission alarm and reduction work actuation arm 4.By making work actuation arm 4 stop action, if the interference of not carrying out from moving body 9 side direction work actuation arm 4, moving body 9 does not come in contact with work actuation arm 4, thereby can guarantee the security of moving body 9.By sending alarm, can carry out the warning that moving body 9 too approaches work actuation arm 4 to moving body 9 and moving body 9 other workers around.Thus, can prevent the interference between moving body 9 and work actuation arm 4.In addition, by reducing the responsiveness of work actuation arm 4, even in the situation that moving body 9 and work actuation arm 4 interfere, also can reduce the impact that this interference produces moving body 9.In addition, by reducing the responsiveness of work actuation arm 4, moving body 9 is also easily hidden action.
The step of scope and the step of abnormality juding that by above-mentioned robot system 2, change region are shown in flow chart.Fig. 4 be in the related robot system of explanation embodiment 1, change the step of scope in region and the flow chart of the step of abnormality juding.First, in step S1, the responsiveness of arm for robot system testing.The detection of this responsiveness is for being set in the initial region of setting of surrounding of robot.The detection of responsiveness is undertaken by responsiveness detecting unit.As responsiveness detecting unit, can enumerate such as acceleration transducer etc.In addition, as the responsiveness detecting unit of the responsiveness of the externally measured work actuation arm from robot 3, can enumerate the measuring appliance that for example detects responsiveness by measuring the Doppler frequency shift of microwave or laser.In addition, the in the situation that of being set in advance execution work content in robot by operation program, setting speed that can be based on shown in operation program, the responsiveness of arm for testing.
In addition, as not carrying out the method for the responsiveness of arm 4 for testing with acceleration transducer or the outside measuring appliance that is arranged on robot 3, can use the detected value that is arranged on the positional information detecting unit on each actuator that makes 4 actions of work actuation arm.Concrete example is enumerated, in the situation that work actuation arm 4 has a plurality of joints and each joint by the driven by servomotor with encoder, if it is known connecting each interarticular arm shape,, by utilizing the dynamics computing of the position in each joint obtaining from each encoder, can obtain the position of work actuation arm leading section.By the position of the leading section of this work actuation arm is solved to the line time differential of going forward side by side with official hour interval, can obtain the responsiveness of work actuation arm.
Then, in step S2, the responsiveness of the work actuation arm based on detecting, the surrounding's setting regions in robot.By region setup unit, carry out the setting in region.When variation has occurred the responsiveness of work actuation arm, in step S7 described later, S8, this region suitably changes according to the responsiveness of work actuation arm.When the responsiveness of work actuation arm is very fast, the scope in region is set broadlyer, and when the responsiveness of work actuation arm is very slow, the scope in region is set narrowlyer.In the situation that region setup unit has the storage part of the related data of storing, preferably, from storage part, read above-mentioned related data, setting is suitable for the scope in the region of the responsiveness that detects by responsiveness detecting unit, and described related data is associated the responsiveness of work actuation arm and the scope in region.
Then,, in step S3, the position of moving body is detected.The detection of the position of moving body is undertaken by moving body detecting unit.As moving body detecting unit, can enumerate laser ranging system, camera head and from being configured in data sink of the IC tag reading out data moving body etc.
Then,, in step S4, whether the position of carrying out moving body is positioned at the judgement in region.In the situation that the position of moving body is positioned at region, enter step S5, be judged to be abnormal.That is, when the position of moving body is positioned at region, with respect to the responsiveness of work actuation arm, moving body is not guaranteed sufficient distance, thereby is judged to be abnormal.Being judged to be abnormal in the situation that, preferably, at least one party in robot and moving body, give suitable indication, guarantee the security of robot and moving body.In the situation that in the Bu region, position of moving body, be judged to be non-extremely, now, the action of work actuation arm and the work of moving body of Bu Dui robot apply restriction.
As mentioned above, in the situation that in the Bu region, position of moving body, enter step S6, the responsiveness of arm for testing again.That is, because the responsiveness of work actuation arm do not fix all the time, in the course of work of Er robot, constantly change, thus non-abnormal in the situation that when being judged to be in step S4, the responsiveness of arm for testing again.Then,, in step S7, confirm whether the responsiveness of work actuation arm changes.Then, in the vicissitudinous situation of responsiveness of work actuation arm, enter into step S8, according to the responsiveness of work actuation arm, change the scope in region.In addition, the responsiveness of arm for testing constantly, and according to the responsiveness of real-time work actuation arm, change the scope in region.; for convenience of description; following situation is described: in the detection of position of moving body of step S3 and the position of the moving body of step S4 after the judgement in region finishes; the responsiveness of the work actuation arm of detecting step S6 again; but; also can carry out side by side the whether judgement in region of the detection of position of moving body of step S3 and the position of the moving body of step S4, and the responsiveness of arm for testing constantly.Then, can cooperating with the variation of the responsiveness of arm, suitably change the scope in region.
In addition, in step S7, in the responsiveness of work actuation arm, do not have in vicissitudinous situation, turn back to step S3, again detect the position of moving body.That is, even in the situation that be judged to be in illustrated step S4 before non-extremely, moving body is moved further, and its position also likely changes.Therefore,, in step S7, even if responsiveness does not have in vicissitudinous situation, also again detect the position of moving body.In addition, for changed the situation of the scope in region in step S8, similarly, turn back to step S3, again detect the position of moving body.Then, based on this testing result, in step S4, again carry out the whether judgement in region of position of moving body.In addition, with the detection of the responsiveness of work actuation arm similarly, can to the position of moving body, detect constantly.That is, also can hold the position of real-time moving body, judge that the position of real-time moving body is whether in the region changing according to the responsiveness of real-time work actuation arm.
For example,, in robot system in the past, owing to setting uniformly people's operating space according to the position relationship of relative robot, so there is no the responsiveness of consideration and work actuation arm corresponding dangerous (risk).So far the robot system of explanation can, according to the responsiveness of work actuation arm, change the scope in region.Therefore, for example, even if moving body is present in same position all the time, in the situation that do not guarantee sufficient safe distance with respect to the responsiveness of work actuation arm, be sometimes also judged to be abnormal.Therefore, according to the work of robot, moving body can be guaranteed minimum safe distance, and can dwindle the space that robot occupies.In addition, by the work according to robot, with the maximal rate being allowed, move, can shorten interval time, improve productivity and the work ratio of robot.
[variation 1]
Fig. 5 is for the schematic diagram of the action of the robot system that variation 1 is related is described.As shown in Figure 5, robot system 2a has: robot 3, responsiveness detecting unit 5, region setup unit 6, moving body detecting unit 7a, abnormality juding unit 8 and action control unit 11.In robot system 2a, moving body detecting unit 7a is arranged on the moving body detecting sensor of ceiling of the surrounding of robot 3.On the different position of the distance of this moving body detecting sensor Yu robot 3, with predetermined distance, arrange a plurality of.By so a plurality of moving body detecting sensors, can detect the position of robot 3 moving body 9 in addition.The ceiling figure 5 illustrates in the surrounding of robot 3 arranges the example of three moving body detecting sensors with same intervals.As moving body detecting sensor, can use known sensors such as utilizing infrared ray, ultrasonic wave, visible ray.About other structures of the related robot system 2a of variation 1, because the robot system related with embodiment 1 is identical, so the description thereof will be omitted.
[variation 2]
Fig. 6 be in the related robot system of explanation variation 2, change the step of scope in region and the flow chart of the step of abnormality juding.As shown in Figure 6, in the related robot system of variation 2, first, and in step S9, the responsiveness of arm for testing.Then, in step S10, the responsiveness of the work actuation arm based on detected, the surrounding's setting regions in robot.Then,, in step S11, detect the position of moving body.Then,, in step S12, judge whether the position of moving body is positioned at region.When the position of moving body is positioned at region, enter step S16, be judged to be abnormal.In the related robot system of variation 2, in step S16, after being judged to be extremely, again in step S17, detect the position of moving body, in step S18, judge whether the position of moving body is positioned at region.Then, when the position of moving body being detected and be positioned at region, turn back to step S16, and maintain abnormality juding.In addition, in the time of in the Bu region, position that moving body detected, enter step S19, abnormality juding is removed.So, in step S16, after being judged to be extremely, still detect the position of moving body, while not finding moving body due to the action of the hiding grade of moving body in region, the security of moving body is guaranteed, abnormality juding is removed.Thus, the productivity of robot and work ratio improve." abnormality juding is removed " and referred to: the higher responsiveness of responsiveness with the work actuation arm than after abnormality juding is moved.When abnormality juding is removed, preferably, so that the mode that work actuation arm is moved with the setting speed shown in operation program resets.In addition, when in the situation that be judged as in step S12 in the Bu region, position of moving body, with the identical step of the robot system related with embodiment 1, carry out step after this.That is,, in step S13, the responsiveness of arm for testing, in step S14, judges whether the responsiveness of work actuation arm changes again.When the responsiveness of work actuation arm changes, enter step S15, according to the responsiveness of work actuation arm, change the scope in region.Then, turn back to step S11, again detect the position of moving body.In addition, when the responsiveness of work actuation arm in step S14 does not change, turn back to step S11, again detect the position of moving body.
[variation 3]
Fig. 7 be in the related robot system of explanation variation 3, change the step of scope in region and the flow chart of the step of abnormality juding.Figure 7 illustrates after whether the position of moving body is judged in region, the later flow chart of abnormality juding step (step S20).Until the situation of the flow chart of the step S20 robot system related with embodiment 1 is identical, in Fig. 7, omitted record.As shown in Figure 7, in the related robot system of variation 3, when being judged to be in step S20 when abnormal, execution work with the action of arm, stop and the reduction of the responsiveness of work actuation arm at least any control.That is, in step S20, be judged to be abnormal after, the control that execution work stops with the action of arm in step S21, or the control of the reduction of the responsiveness of execution work use arm in step S22.In the related robot system of variation 3, after step S21 and step S22, the responsiveness of arm for testing in step S23 again.Then,, in step S24, according to the responsiveness of detected work actuation arm, change the scope in region.After having changed the scope in region, in step S25, again detect the position of moving body, in step S26, judge whether the position of moving body is positioned at region.Due to the controls such as reduction of the responsiveness of work actuation arm, the scope in the region after variation is than the narrow range being judged to be when abnormal.When the position that moving body detected is not in the scope in the region after variation, enter step S27, abnormality juding is removed.In addition, in the time of in the region of the position that moving body detected after variation, turn back to step S20, maintain abnormality juding.Thus, the productivity of robot and work ratio improve.Especially, in the related robot system of variation 3, can prevent the problem that Security Countermeasures are excessive, the operating efficiency of robot reduces.
[variation 4]
Fig. 8 be in the related robot system of explanation variation 4, change the step of scope in region and the flow chart of the step of abnormality juding.In the related robot system of variation 4, moving body detecting unit is for detection of position and the translational speed of moving body.That is, first, in step S28, the responsiveness of arm for testing.In addition, in step S29, detect the translational speed of moving body.Then, in step S30, region setup unit, according to both relative velocity of the translational speed of responsiveness based on work actuation arm and moving body, carrys out the scope of setting regions.Then,, in step S31, detect the position of moving body.Then,, in step S32, judge whether the position of moving body is positioned at region.When the position of moving body being detected and be positioned at region, enter step 33, be judged to be abnormal.The judgement and the abnormality juding that about the position of moving body, whether are positioned at region, the robot system related with embodiment 1 is identical.In the time of in Bu region, the position of moving body, enter step 34,35.That is, in step 34, the responsiveness of arm for testing again.In addition, in step 35, again detect the translational speed of moving body.Then,, in step 36, according to both relative velocity of the translational speed of the responsiveness based on work actuation arm and moving body, carry out again the scope of setting regions.That is,, in this step 36, change the scope in region.Afterwards, turn back to step 31, again detect the position of moving body, afterwards, in the scope in the region after change, in step 32, judge that the position of moving body is whether in region.So, in the related robot system of variation 4, according to both relative velocity of the translational speed of the responsiveness based on work actuation arm and moving body, carry out the scope of setting regions, thus, can realize security with higher level.As moving body detecting unit, so long as can detect the position of moving body and the unit of translational speed, not restriction especially.For example, because the time of the position of moving body changes, become speed, therefore, if can detect the moving body detecting unit of the position of moving body according to time sequencing, can detect the translational speed of moving body.
[other variation]
Robot can be set to carry out multiple action in advance by operation program, and operation program also can comprise the information of the responsiveness that limits work actuation arm.By comprising the information of the responsiveness of stipulating such work actuation arm, can realize the action of the work actuation arm with flexibility.That is, can be according to the position of moving body, the responsiveness of regulation work actuation arm, thus with higher level, realize security and workability.
In addition, the information that includes the responsiveness of regulation work actuation arm in operation program, when the position of moving body being detected and be positioned at region, the action that abnormality juding unit is being carried out according to robot, carry out different abnormality judings, also can, according to the kind of abnormality juding, make the processing after abnormality juding different.For example, in the time of can working as action that robot carrying out and be safe action for moving body, be judged to be when abnormal, make the action of work actuation arm proceed a part, when the action of carrying out when robot is the low action of security for moving body, being judged to be when abnormal, the action of work actuation arm is stopped completely.As making the action of work actuation arm proceed a part, can enumerate to comprise sending or processing that the reduction of the responsiveness of work actuation arm etc. is controlled of alarm.The emergent stoppings that stop completely for the action that makes work actuation arm etc., until return to form and action is started again, likely need certain hour.Therefore, by according to the action of carrying out, after being judged to be extremely, suitably carry out guaranteeing the different processing of sufficient security, can realize security and workability with higher level.
Responsiveness detecting unit is the unit of at least any component in directions X component, Y-direction component and Z durection component in the XYZ coordinate system of the responsiveness of arm for testing, and region setup unit can carry out according at least any component in the directions X component detecting by responsiveness detecting unit, Y-direction component and Z durection component the scope of setting regions.About the danger of the action based on work actuation arm, even if the absolute value of responsiveness is identical, according to the direction of action, danger is sometimes also different.For example, when work actuation arm to from moving body away from direction while moving, compare when moving body moves with work actuation arm, danger diminishes.As mentioned above, by the responsiveness of work actuation arm is carried out to component decomposition in XYZ coordinate system, and the scope of setting regions, can carry out the suitable Security Countermeasures corresponding with the movement content of work actuation arm.Certainly, region setup unit also can carry out according to the absolute value of the responsiveness of work actuation arm the scope of setting regions.By carry out the scope of setting regions according to the absolute value of the responsiveness of work actuation arm, can make the setting of the scope in region become simple.
Region setup unit can be set in the surrounding of robot a plurality of different regions, and abnormality juding unit can carry out different abnormality judings at regional.For example, can, in the surrounding of robot in the moving body region that come in and go out hardly in region and moving body frequently of coming in and going out, carry out different abnormality judings.In addition, the distance that can set from the border in region robot is different a plurality of regions (for example, the region of a plurality of nested shapes) mutually, along with arriving the distance of robot, become near, the abnormality juding that carries out applying due to the action of work actuation arm strict restriction.Thus, can carry out individually the Security Countermeasures mutually suitable with the situation of the surrounding of robot.
[embodiment 2]
Below, the control method of the related robot system of embodiment 2 is described.The control method of the robot system that embodiment 2 is related is the method that the related robot system 2 of the embodiment 1 shown in Fig. 1 is controlled.The control method of robot system has responsiveness detecting step, zone enactment steps, moving body detecting step and abnormality juding step.Responsiveness detecting step is the step of responsiveness that detects the work actuation arm 4 of robot 3 as shown in Figure 1, that have the work actuation arm 4 that can move.The surrounding of zone enactment steps Shi robot 3 sets the step in the region 10 of the scope of stipulating.Moving body detecting step is the step that detects the position of robot 3 moving body 9 in addition.Abnormality juding step is when the position of moving body 9 is positioned at region 10, to be judged to be abnormal step when detecting.Then, zone enactment steps changes the scope in region 10 according to the responsiveness of work actuation arm 4.
At this, the flow chart based on shown in Fig. 4, describes the control flow in the control method of the related robot system of embodiment 2 according to step order.First, in step S1, the responsiveness of arm for testing.Then, in step S2, the surrounding's setting regions in robot.Then,, in step S3, detect the position of robot moving body in addition.Then,, in step S4, judge whether the position of moving body is positioned at region.When the position of moving body is positioned at region, enter step S5, be judged to be abnormal.In addition, in the time of in Bu region, the position of moving body, enter step S6, again the responsiveness of arm for testing.Then,, in step S7, judge whether the responsiveness of work actuation arm changes.When the responsiveness of work actuation arm changes, enter step S8, according to the responsiveness of work actuation arm, change the scope in region.In addition, when the responsiveness of work actuation arm does not change, turn back to step S3, again detect the position of moving body.In addition, in step S8, in the situation that the scope in region has been changed, also turn back to step S3, and again detect the position of moving body.But in the situation that having carried out step S8, in the step S4 that the next one of step S3 will carry out, the scope in the region based on being changed in step S8, judges whether the position of moving body is positioned at region.By the control method of such robot system, can be with high-level security and the workability realized.In addition, according to the work of robot, moving body can be guaranteed minimum safe distance, and can dwindle the space that robot occupies.And, by the work according to robot, with the maximal rate being allowed, move, can shorten interval time, the productivity of robot and work ratio are improved.
In addition, the control method of robot system can be also the method to controlling to illustrated robot system in the related robot system of variation 4 and the related robot system of other variation in variation 1.That is, can, in conjunction with each so far illustrated variation, responsiveness detecting step, zone enactment steps, moving body detecting step and abnormality juding step be suitably out of shape.
Above, although understand embodiment, but the invention is not restricted to this, and can within the scope of its purport, carry out various distortion and change.
Claims (11)
1. a robot system, has:
Robot, described robot has the work actuation arm that can move;
Responsiveness detecting unit, described responsiveness detecting unit detects the responsiveness of described work actuation arm;
Region setup unit, described region setup unit is set the region of prescribed limit in the surrounding of described robot;
Moving body detecting unit, described moving body detecting unit detects the position of the moving body beyond described robot; And
Abnormality juding unit, while being positioned at described region in the position that described moving body detected described in abnormality juding unit be judged to be extremely,
Described region setup unit, according to the responsiveness of described work actuation arm, changes the scope in described region.
2. robot system as claimed in claim 1, wherein, described robot has the base station of the described work actuation arm of supporting and the travel mechanism that described base station is moved.
3. robot system as claimed in claim 1 or 2, wherein,
Described moving body detecting unit detects position and the translational speed of described moving body,
Described region setup unit, according to both relative velocity of the translational speed of the responsiveness based on described work actuation arm and described moving body, is set the scope in described region.
4. robot system as claimed in claim 1 or 2, wherein,
Be accompanied by described abnormality juding unit be judged to be abnormal pack processing containing the action of described robot stop, alarm send and the reduction of the responsiveness of described work actuation arm at least any control.
5. robot system as claimed in claim 1 or 2, wherein,
Described robot can be set by operation program, carries out multiple action,
The information that described operation program comprises the responsiveness of stipulating described work actuation arm.
6. robot system as claimed in claim 1 or 2, wherein,
The information that described operation program comprises the responsiveness of stipulating described work actuation arm,
When the position that described moving body detected is positioned at described region, the action that described abnormality juding unit is being carried out according to described robot, carries out different abnormality judings.
7. robot system as claimed in claim 1 or 2, wherein,
Described responsiveness detecting unit detects at least any component in directions X component, Y-direction component and the Z durection component in the XYZ coordinate system of responsiveness of described work actuation arm,
Described region setup unit is according to set the scope in described region by least any component in the detected described directions X component of described responsiveness detecting unit, described Y-direction component and described Z durection component.
8. robot system as claimed in claim 1 or 2, wherein,
Described moving body detecting unit be laser ranging system, camera head or on being configured in the IC tag described moving body the data sink of reading out data.
9. robot system as claimed in claim 1 or 2, wherein,
Described region setup unit is set a plurality of different regions in the surrounding of described robot,
Described abnormality juding unit carries out different abnormality judings for region described in each respectively.
10. robot system as claimed in claim 1 or 2, wherein,
In the position that described moving body detected, not in described region time, described abnormality juding is removed in described abnormality juding unit.
The control method of 11. 1 kinds of robot systems, has:
Responsiveness detecting step, detects the responsiveness of the described work actuation arm of the robot with the work actuation arm that can move;
Zone enactment steps, sets the region of prescribed limit in the surrounding of described robot;
Moving body detecting step, detects the position of the moving body beyond described robot; And
Abnormality juding step, is judged to be while being positioned at described region in the position that described moving body detected extremely,
Described zone enactment steps, according to the responsiveness of described work actuation arm, changes the scope in described region.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013052805A JP5668770B2 (en) | 2013-03-15 | 2013-03-15 | Robot system and control method of robot system |
| JP2013-052805 | 2013-03-15 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104044140A true CN104044140A (en) | 2014-09-17 |
| CN104044140B CN104044140B (en) | 2017-03-01 |
Family
ID=50189550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410006731.7A Active CN104044140B (en) | 2013-03-15 | 2014-01-07 | Robot system and the control method of robot system |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US9403276B2 (en) |
| EP (1) | EP2783797A3 (en) |
| JP (1) | JP5668770B2 (en) |
| CN (1) | CN104044140B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105983969A (en) * | 2015-03-17 | 2016-10-05 | 发那科株式会社 | Robot control system |
| CN107378941A (en) * | 2016-05-16 | 2017-11-24 | 精工爱普生株式会社 | robot, control device and robot system |
| CN109514322A (en) * | 2018-11-02 | 2019-03-26 | 拓卡奔马机电科技有限公司 | Cutting security protection system and method |
| CN110216679A (en) * | 2019-06-28 | 2019-09-10 | 北京猎户星空科技有限公司 | A kind of mechanical arm unlocking method and device |
| CN110454642A (en) * | 2019-08-01 | 2019-11-15 | 山东大学 | A kind of control method of detecting robot of pipe |
| CN110480629A (en) * | 2018-05-15 | 2019-11-22 | 发那科株式会社 | Robot system |
Families Citing this family (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015000470A (en) * | 2013-06-18 | 2015-01-05 | トヨタ自動車株式会社 | Robot control apparatus and robot control method |
| US9927797B2 (en) * | 2014-08-29 | 2018-03-27 | Amazon Technologies, Inc. | Safety compliance for mobile drive units |
| DE102014226691A1 (en) | 2014-12-19 | 2016-06-23 | Carl Zeiss Industrielle Messtechnik Gmbh | Method for monitoring a coordinate measuring machine |
| JP6481495B2 (en) * | 2015-05-08 | 2019-03-13 | 株式会社デンソーウェーブ | Robot safety device |
| DE102015009048B3 (en) * | 2015-07-13 | 2016-08-18 | Kuka Roboter Gmbh | Controlling a compliant controlled robot |
| CN109070365B (en) * | 2016-04-22 | 2021-11-05 | 三菱电机株式会社 | Object operating device and object operating method |
| WO2017199619A1 (en) * | 2016-05-16 | 2017-11-23 | 三菱電機株式会社 | Robot operation evaluation device, robot operation evaluation method, and robot system |
| US10016896B2 (en) * | 2016-06-30 | 2018-07-10 | Brain Corporation | Systems and methods for robotic behavior around moving bodies |
| CN107717982B (en) | 2016-08-12 | 2020-09-25 | 财团法人工业技术研究院 | Control device and operation method of mechanical arm |
| JP2018176397A (en) | 2017-04-21 | 2018-11-15 | オムロン株式会社 | Robot system |
| DE102017111886B3 (en) * | 2017-05-31 | 2018-05-03 | Sick Ag | Determine the movement of a machine to be protected |
| JP7329902B2 (en) * | 2017-08-25 | 2023-08-21 | オムロン株式会社 | ROBOT CONTROL DEVICE, ROBOT SYSTEM, ROBOT CONTROL METHOD, AND ROBOT CONTROL PROGRAM |
| JP6988531B2 (en) * | 2018-02-06 | 2022-01-05 | トヨタ自動車株式会社 | robot |
| DE102018109320A1 (en) * | 2018-04-19 | 2019-10-24 | Gottfried Wilhelm Leibniz Universität Hannover | Method for detecting an intention of a partner in relation to a multi-membered actuated kinematics |
| JP7081294B2 (en) | 2018-05-11 | 2022-06-07 | トヨタ自動車株式会社 | Electronic unit |
| JP7000992B2 (en) | 2018-05-25 | 2022-01-19 | トヨタ自動車株式会社 | Manipulators and mobile robots |
| DE102018114156B3 (en) * | 2018-06-13 | 2019-11-14 | Volkswagen Aktiengesellschaft | Method for controlling a robot, in particular an industrial robot, and device for controlling the robot |
| JP6985242B2 (en) * | 2018-11-30 | 2021-12-22 | ファナック株式会社 | Robot monitoring system and robot system |
| JP7145237B2 (en) * | 2019-01-11 | 2022-09-30 | 株式会社Fuji | Control device, workpiece operating device, workpiece operating system and control method |
| JP7226101B2 (en) * | 2019-05-28 | 2023-02-21 | オムロン株式会社 | SAFETY MONITORING SYSTEM, SAFETY MONITORING CONTROL DEVICE, AND SAFETY MONITORING METHOD |
| DE102020203636A1 (en) | 2020-03-20 | 2021-09-23 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein | Determination of safety areas around an automated machine |
| US20230202037A1 (en) * | 2021-12-29 | 2023-06-29 | Datalogic Ip Tech S.R.L. | System and method for determining allowable robot speed in a collaborative workspace |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050222713A1 (en) * | 2004-03-31 | 2005-10-06 | Honda Motor Co., Ltd. | Outside monitoring device for mobile robot |
| US20060049939A1 (en) * | 2004-09-08 | 2006-03-09 | Sick Ag | Method and apparatus for the control of a safety-relevant function of a machine |
| US20060173577A1 (en) * | 2002-12-10 | 2006-08-03 | Masanori Takeda | Robot control device, robot control method, and robot control program |
| DE102005011143A1 (en) * | 2005-03-10 | 2006-09-14 | Sick Ag | Device for controlling safety relevant function of robot or machine tool has means to change contour of safety area depending on displacement, position and operational data and on transmitted control data of robot or machine tool |
| US20070027579A1 (en) * | 2005-06-13 | 2007-02-01 | Kabushiki Kaisha Toshiba | Mobile robot and a mobile robot control method |
| US20090043440A1 (en) * | 2007-04-12 | 2009-02-12 | Yoshihiko Matsukawa | Autonomous mobile device, and control device and program product for the autonomous mobile device |
| JP2010052114A (en) * | 2008-08-29 | 2010-03-11 | Mitsubishi Electric Corp | Device and method for controlling interference check |
| CN101888920A (en) * | 2007-12-07 | 2010-11-17 | 株式会社安川电机 | Robot movement regulating method, robot system, and robot movement regulating device |
| CN102233579A (en) * | 2010-04-28 | 2011-11-09 | 株式会社安川电机 | System and method for judging success or failure of work of robot |
| US20120290132A1 (en) * | 2011-05-10 | 2012-11-15 | Sony Corporation | Robot device, method of controlling the same, and program for controlling the same |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0380331A (en) * | 1989-08-24 | 1991-04-05 | Brother Ind Ltd | Symptom input back-up type diagnostic device for abnormality |
| DE10152543A1 (en) * | 2001-10-24 | 2003-05-08 | Sick Ag | Method and device for controlling a safety-relevant function of a machine |
| DE10324627A1 (en) * | 2003-05-28 | 2005-01-05 | Daimlerchrysler Ag | Working space monitoring for automated operating machines involves monitoring speed-dependent second zone for object penetration, preventing object from entering first zone if detected in second zone |
| JP4219870B2 (en) | 2004-08-09 | 2009-02-04 | 本田技研工業株式会社 | Man-machine working system |
| JP2006043861A (en) * | 2004-08-09 | 2006-02-16 | Honda Motor Co Ltd | Man-machine work system |
| CN100556623C (en) * | 2004-10-19 | 2009-11-04 | 松下电器产业株式会社 | Robot apparatus |
| JP4243309B2 (en) * | 2006-07-04 | 2009-03-25 | パナソニック株式会社 | Robot arm control device |
| DE102008041602B4 (en) * | 2008-08-27 | 2015-07-30 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Robot and method for controlling a robot |
| US8249747B2 (en) * | 2008-12-03 | 2012-08-21 | Abb Research Ltd | Robot safety system and a method |
| JP2015526309A (en) * | 2012-08-31 | 2015-09-10 | リシンク ロボティクス インコーポレイテッド | System and method for safe robot operation |
-
2013
- 2013-03-15 JP JP2013052805A patent/JP5668770B2/en active Active
-
2014
- 2014-01-07 CN CN201410006731.7A patent/CN104044140B/en active Active
- 2014-02-27 EP EP14157020.0A patent/EP2783797A3/en not_active Withdrawn
- 2014-03-13 US US14/207,654 patent/US9403276B2/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060173577A1 (en) * | 2002-12-10 | 2006-08-03 | Masanori Takeda | Robot control device, robot control method, and robot control program |
| US20050222713A1 (en) * | 2004-03-31 | 2005-10-06 | Honda Motor Co., Ltd. | Outside monitoring device for mobile robot |
| US20060049939A1 (en) * | 2004-09-08 | 2006-03-09 | Sick Ag | Method and apparatus for the control of a safety-relevant function of a machine |
| DE102005011143A1 (en) * | 2005-03-10 | 2006-09-14 | Sick Ag | Device for controlling safety relevant function of robot or machine tool has means to change contour of safety area depending on displacement, position and operational data and on transmitted control data of robot or machine tool |
| US20070027579A1 (en) * | 2005-06-13 | 2007-02-01 | Kabushiki Kaisha Toshiba | Mobile robot and a mobile robot control method |
| US20090043440A1 (en) * | 2007-04-12 | 2009-02-12 | Yoshihiko Matsukawa | Autonomous mobile device, and control device and program product for the autonomous mobile device |
| CN101888920A (en) * | 2007-12-07 | 2010-11-17 | 株式会社安川电机 | Robot movement regulating method, robot system, and robot movement regulating device |
| JP2010052114A (en) * | 2008-08-29 | 2010-03-11 | Mitsubishi Electric Corp | Device and method for controlling interference check |
| CN102233579A (en) * | 2010-04-28 | 2011-11-09 | 株式会社安川电机 | System and method for judging success or failure of work of robot |
| US20120290132A1 (en) * | 2011-05-10 | 2012-11-15 | Sony Corporation | Robot device, method of controlling the same, and program for controlling the same |
Non-Patent Citations (1)
| Title |
|---|
| HEIKO HOFFMANN, ET AL: "Biologically-inspired dynamical systems for movement generation: Automatic real-time goal adaptation and obstacle avoidance", 《IEEE INTERNATIONAL CONFERENCE ON ROBOTICS & AUTOMATION》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105983969A (en) * | 2015-03-17 | 2016-10-05 | 发那科株式会社 | Robot control system |
| CN107378941A (en) * | 2016-05-16 | 2017-11-24 | 精工爱普生株式会社 | robot, control device and robot system |
| CN110480629A (en) * | 2018-05-15 | 2019-11-22 | 发那科株式会社 | Robot system |
| US10987810B2 (en) | 2018-05-15 | 2021-04-27 | Fanuc Corporation | Robot system |
| CN109514322A (en) * | 2018-11-02 | 2019-03-26 | 拓卡奔马机电科技有限公司 | Cutting security protection system and method |
| CN110216679A (en) * | 2019-06-28 | 2019-09-10 | 北京猎户星空科技有限公司 | A kind of mechanical arm unlocking method and device |
| CN110216679B (en) * | 2019-06-28 | 2020-07-10 | 北京猎户星空科技有限公司 | Mechanical arm unlocking method and device |
| CN110454642A (en) * | 2019-08-01 | 2019-11-15 | 山东大学 | A kind of control method of detecting robot of pipe |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2014176932A (en) | 2014-09-25 |
| JP5668770B2 (en) | 2015-02-12 |
| CN104044140B (en) | 2017-03-01 |
| US20140277723A1 (en) | 2014-09-18 |
| EP2783797A2 (en) | 2014-10-01 |
| EP2783797A3 (en) | 2015-10-28 |
| US9403276B2 (en) | 2016-08-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104044140A (en) | Robot system and method for controlling robot system | |
| CN104044141B (en) | The control method of robot system and robot system | |
| JP6479264B2 (en) | Collaborative robot system and control method thereof | |
| US9914624B2 (en) | Systems and methods for object guidance and collision avoidance | |
| US10302251B2 (en) | Apparatus and method for safeguarding an automatically operating machine | |
| CN206105865U (en) | Barrier system that keeps away in robot | |
| EP3446837B1 (en) | Robot control device, robot system, robot control method, and robot control program | |
| CN105793731A (en) | Autonomous moving object | |
| US9726544B2 (en) | Method and system for passive tracking of moving objects | |
| KR20120013513A (en) | Vision tracking system and method using motion commands | |
| CN116277161B (en) | Mechanical arm dynamic deviation monitoring system based on three-dimensional model coordinates | |
| US20160214263A1 (en) | Robot and method of controlling the same | |
| CN114636967A (en) | Security system and method of using a security system | |
| JP4548784B2 (en) | Robot control device, robot system, and program | |
| JP2020049623A (en) | Safety control system | |
| CN116749196B (en) | Multi-axis mechanical arm collision detection system and method and mechanical arm | |
| WO2021065879A1 (en) | Monitoring system, monitoring method, and program | |
| JP5439552B2 (en) | Robot system | |
| JP7310297B2 (en) | Work robot and its control method | |
| JP2020093373A (en) | Robot interference determination device, robot interference determination method, robot control device, and robot control system | |
| TWI626519B (en) | A movement device with a positioning technology and method thereof | |
| CN109937119A (en) | Passenger protection system and its operation method | |
| JP2016218504A (en) | Movement device and movement system | |
| WO2024224491A1 (en) | Robot system and robot control device | |
| US10953511B2 (en) | System and method for detecting position loss in an object under a mechanical influence |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |